A novel path planning approach based on the bifurcation theory is proposed for a quadrotor UAV to track a ground vehicle in motion. For this purpose, a brief description of the mathematical model of the quadrotor UAV and the ground vehicle is presented, and the Hopf bifurcation method around a mobile balance point is used to design the path planning for a quadrotor UAV, and autonomously it generates a circular surveillance relative to a moving ground vehicle. The stability analysis based on Lyapunov theory is presented in order to demonstrate that the trajectory satisfies the bifurcation properties. Simulation and experimental tests are carried out to validate the proposed approach.

提出了一种基于分叉理论的新型路径规划方法，用于四旋翼无人机跟踪运动中的地面车辆。为此，简要介绍了四旋翼无人机和地面飞行器的数学模型，并使用围绕移动平衡点的Hopf分叉方法设计了四旋翼无人机的路径规划，并自动生成了一个圆形相对于移动地面车辆的监视。为了证明该轨迹满足分叉特性，基于李雅普诺夫理论进行了稳定性分析。进行仿真和实验测试以验证所提出的方法。